I have some questions about globaolpaln in ROS

asked 2018-06-18 07:44:40 -0500

Liuche gravatar image

updated 2018-06-18 07:45:53 -0500

I found that when I was planning a global path, my starting point was (0,0) and the goal was (1,0).

Why does it plan out the path maybe like this

['0.0,0.0', '0.2,0.1', '0.4,0.1', '0.6,0.1', '0.8,0.1', '1.0,0.0']

Why is it not planned directly like this?

['0.0,0.0', '0.2,0.0', '0.4,0.0', '0.6,0.0', '0.8,0.0', '1.0,0.0']

What I mean is why my goal is only X, but there are Y values in the plan...

I think it may be related to the resolution of the map, but I don't know how to explain it.

Can someone help me to explain this?

Thank you all very much!

edit retag flag offensive close merge delete



Is your robot use differential? or holonomic drive?

achmad_fathoni gravatar image achmad_fathoni  ( 2018-06-18 08:30:13 -0500 )edit

my robot is kobuki,I think I may know the answer!

It is possible that the path planned by A* is on the grid not on the line.

But i can not sure about it, so I hope someone can help explain about why?

Liuche gravatar image Liuche  ( 2018-06-18 09:29:50 -0500 )edit